JPS6064080A - Steering device for crawler car - Google Patents

Abstract

PURPOSE:To enable steering through both def. device and a combination of steering clutch and brake, by arranging a steering clutch between the def. device and steering brake in addition to a wheel steering device. CONSTITUTION:A def. device 17 and right/left steering clutches 31, 25 are arranged in the drive device of a crawler car to enable steering through both the def. device 17 and steering clutches 26L, 26R. When sensing the advancing direction through a steering sensor under mowing work of combine to perform steering automatically, speed can be varied continuously by the def. device 17 and steering brakes 10L, 10R to enable finner control of clutch than on-off control resulting in improvement of work accuracy.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a steering device for a moving vehicle that is equipped with a steering sensor or the like in a crawler type agricultural machine such as a combine harvester to sense the direction of travel and perform steering control.

Conventionally, steering devices such as combine harvesters have been operated by connecting and disconnecting the margins below the left and right steering racks, and then disconnecting and disconnecting the left and right steering brakes. Therefore, when the steering sensor detected the change of course, the clutch was disengaged and the steering was performed intermittently. This constant repetition of steering operations during automatic steering caused a sense of discomfort, and there was hope for more continuous and smooth course changes.

V for wheeled moving vehicles? - uses a differential gear and a steering brake to achieve a smooth, non-step shift in which when one wheel is braked, the other wheel speeds up. Utilizing the same principle, a crawler type steering device is also configured to solve the problem of whether or not steering cannot be performed via a differential device.

That is, in addition to the conventional wheel-type steering device, a steering clutch device is arranged between the differential device and the steering brake, and the traveling device is a crawler-type steering device, and the steering by the differential device is also controlled by the steering clutch. It is possible to use both steering and steering using the brakes. With this configuration, it is possible to increase the turning speed when turning, and it is also possible to eliminate the jerky connection and disconnection of the clutch that occurs when steering with the conventional steering clutch.

The purpose of the present invention is as described above, and 1'2 of attached A.
11+ of the present invention based on the configuration of the embodiment shown on page 1.
Let me explain the 4th generation.

Figure 1 is a skeleton diagram showing a wheel-type traveling device. Figure 2 is a skeleton diagram of the wheel-type traveling device in section 11 replaced with a crawler type Ki.

The conventional wheel-type traveling device shown in FIG. 1 will be explained.

The power source is a hydraulic motor (2). Pressure oil is produced by a hydraulic pump installed in the engine, and the hydraulic motor (2) rotates with continuously variable speed in forward and reverse directions.

The fixed gears (7) and (8) on the input shaft (3) and the loosely fitted gear θ4103 on the counter shaft (4) are always in mesh with each other, and either of these gears is selected by color shift aavc, and the high Performs sub-shifting. A parking brake device (9) is provided at the left end of the counter shaft (4). counter@
(4) The fixed gear OQ on the upper fixed wheel and the fixed gear OQ on the differential case θ'7) are constantly meshed to transmit power to the differential gear.

og is def pinion III, (29a) and (29b) are def pinion teal.

And the differential rotation is the differential side gear (28L) (28
R) will be informed. Defzai Dogi-1' (28L) (
28RJ is spline fitted to differential side gear shaft 15L) (5R) to transmit power.

Differential side gear flll (5L) (5R) VCC
A deceleration small-diameter motorcycle 22L) (22R) is fixedly installed, and a steering braking device (10L) (1OR) is arranged on the outside thereof.

Reduction small diameter gear (22L) (22R) is reduction iI+11
1 (6L) (Large diameter gear (23L) on 6R (2:3
R) is always engaged.

A differential lock clutch (I) is installed on the reduction shaft (6L) (6R).
t is provided. (LL) I IR) is a wheel.

This type of conventional steering device is commonly used in agricultural tractors, etc. When driving normally, when the right or left steering brake pedal is depressed, the brake on that side is applied, and the rotation is slowed down on the other side. The rotation of will increase by that amount.

During work, the left and right wheels are rotated at the same speed by connecting the differential lock clutch θυ so that only straight-line steering is possible when the vehicle starts moving straight.

In the present invention, a coupling C20L) (20R) is provided on the differential side gear IFIII (5L) (5R) shaft of such a conventional wheel type traveling device, and this is removed.
A switching clutch (26L) (26R) can be inserted into this part.

A compulsion ring +211 is also provided on the deceleration shaft (6R), so that the right steering clutch (c) can be interposed here as well.

Further, when the right steering clutch (c) is installed, a gear (18) of the differential case 0η is provided which meshes with the gear (25a) of the right steering clutch (c). and,
In this case, the differential lock clutch (1υ) is substituted for the left steering clutch (3I).

Figure 2 shows the coupling (2) of this wheel-type traveling device.
0L) (2OR) G! This is a crawler-type traveling device with a switching clutch device interposed in the υ section.

Wheels (IL) (I) of the wheel-type traveling device shown in Figure 1.
If a driving tin rocket is installed in place of R) and a crawler-type traveling device is created, the following problems will occur. In other words, when one crawler is braked, the other crawler rotates at the traveling speed of 2-ear ζ, resulting in a turning speed that is too fast and there is a danger that the operator may fall off, and such turning should not be attempted. In order to make this possible, it is necessary to increase the strength of the Mino 7 Yon case, since the transmission case's car 11MI 1ilfl receiving part is subject to an excessive load compared to the case of wheels, and the horsepower required for turning is also greater than that of wheels. There is a need for it.

Also, when driving a crawler using a differential device, the power transmission is not completely cut off as it is with a clutch, so the power is still transmitted to the crawler that receives the braking, so it is possible to use a small horsepower. Since the power is absorbed by the crawler, the horsepower required for turning is the clutch-steering crawler V? -It becomes larger in comparison.

In the present invention, in order to solve these problems and to use a roller-type steering device that also enables steering with a differential device, the switching clutches (26L) (26R) and the right steering clutch blade are arranged as shown in Fig. 1. In addition to the conventional structure, the crawler traveling device can be steered by a differential device.

In FIG. 2, the switching clutches (26L) (26R) are normally biased in the closing direction by spring g3, and can be disconnected by hydraulic pressure.

The right steering clutch (c) and the left steering clutch are normally opened by springs and can be closed by hydraulic pressure.

The steering action according to FIG. 2 will be explained.

First of all, when the steering sensor detects the direction of travel and gradually changes direction, such as in an automatic steering combine, the steering sensor uses the steering brake (IOL).
) and perform continuous steering using the differential device.

When automatic steering is performed using the steering sensor, ←1 The vehicle must be driven while mowing, and the traveling speed is low, so the upper gear-type sub-shift is gear (7) and gear (04).
This is the low speed range where the two mesh. In the case of shifting in this low speed range, steering is performed using the steering brake (10F, ) (10R) and the differential device, and even if the non-braking side rotates at nearly twice the speed, sudden turns or falls may occur. There are no accidents.

Therefore, the steering that uses the differential device in conjunction with the height of the sub-shift lever and the clutch that does not use the differential device (11) (To)
The system is configured so that the steering is automatically replaced by the electric/hydraulic circuit.

That is, when the sub-shift is at a low speed, the steering brake (IOIJ (IOR)) is operated in both automatic steering by the steering sensor and manual steering by the left and right steering levers.In this case, First, - change clutch (26L) (26
R) are both connected. The left and right steering clutches (311(c)) are both disengaged.

Therefore, the power is transferred from the differential side gear (28L) (28R) to the gear (2) via the switching clutch (26L) (26R).
2L) (22Rn・(23L) (Car from 231)
IQI (6L) (6R and drive sprocket,) l-(2
7L) (27R).

In this state, the steering brake (l0L) Cl0R) is operated by operating the steering lever or by the steering sensor, and the rotation of the braked side decreases, and the rotation of the other side increases to twice as much. be. Therefore, when directional control is performed based on detection by the steering sensor while working at low speeds, the differential speed can be operated in a connected manner to increase the speed, instead of turning the clutch ON to Qff as in the conventional case.

Second, when the sub-shift is at high speed and the vehicle is being steered for transportation on the road, the speed on the non-braking side of the steering using the differential device doubles, creating a risk of sharp turns and rollover. Therefore, the steering using the steering clutch as in the conventional crawler type is automatically replaced by an electric/hydraulic circuit. That is, in this case, both or one of the switching clutches (26L) and (26R) are disconnected to allow the differential side gear to rotate freely.
This prevents it from being transmitted to the cars (22L) (22R). Naturally, if both switching clutches are disengaged, the transmission will not be transmitted, but even if only one is disengaged, a large load will be applied to the other, and since one is free, the free rotation becomes free Ki, and the differential side gear (28L ) (28R) does not reach the driving force that rotates the gears (22L) (22R).

The power that drives the crawler traveling device is the gear 0 of the differential case Oη & the gear of the steering clutch (c) on the right.
25a) iC is transmitted to the steering clutch on the left side of the intermediate shaft (also transmitted to the left steering clutch).The rotation speed at this time is transmitted from the differential case αη, so there is no increase or decrease by the differential device, and it is transmitted to the left steering clutch from the intermediate shaft. This is the rotational speed after shifting. This power is transmitted from the axle t (iL) (6R) to the drive sprocket t-(27L) (27R) V?-, and when the steering lever is operated, the left and right steering Direction clutch (
8111251 is connected and disconnected to perform steering.

When the steering lever is further rotated after the steering clutch (31) (c) is disengaged, the steering brake +l0L) (IOR) is also braked, allowing for a tighter turn.

When traveling straight, if the left and right steering clutches (and) are connected, the vehicle will be in the same state as a differential lock, and the vehicle will proceed at the same speed on both sides.

If it is desired to apply the differential lock even in the first low-speed driving condition, the IC can also apply the differential lock by causing the second high-speed driving condition to go straight.

Even when the 3rd VC engine stops and the parking brake is applied, the switching clutch (26L) (26R) will not connect unless pressure oil is sent to the steering clutch (81j (25) by the hydraulic clutch, so the switching clutch ( 26L)
(26R) due to the biasing force of the spring (7) in the tangential direction
6L) (6R) and! Ill (41) is in a connected state, and braking is applied by a parking brake device (9).

As described above, the present invention provides a drive system for a crawler-type mobile 3JI vehicle with a differential device and left and right steering clutch devices, and by switching the switching clutch device, steering by the differential device and steering by the steering clutch are achieved. Since it is possible to steer both direction and direction, when the steering sensor detects the direction of travel and automatically performs steering operation during reaping work, such as with the 11C combine harvester, it is necessary to use a differential device and Since the steering brake device allows steering to be performed with continuous speed changes, it is possible to perform more delicate control than clutch on/off control, and improve work accuracy.

Second, when the crawler-type traveling device is steered by the differential device, the non-braking side crawler rotates at twice the speed, so when traveling at high speed, 1/( means that it is possible to roll over due to sharp turns. Although this is a serious problem, the present invention can avoid this danger by using a steering clutch to perform on-off steering at high speeds other than working speeds, like a normal crawler device.

In addition, since it is possible to automatically switch between steering by the differential device and steering by the steering clutch by changing the speed of the auxiliary gear shift lever, it is possible to change the steering mode [in case of sharp turns or rollovers].
This means that accidents no longer occur.

Thirdly, the input side power 'ff: Army IIIt1. The gear chain Q81 (25a) that transmits VC is installed on the outer wall of the differential case 07) and the car @ (6).The left and right steering clutches (811 (c)) are installed on the left and right axles (6L) (6R). Therefore, when steering is not performed using the differential device and steering brake (IOL) (10R), the input can be directly transmitted to the VC gear chained axle, and after disengaging this steering clutch, the steering brake ( By braking the IOL) CIORJ, it is possible to use the same steering method as the American crawler-type traveling device, and this 21- This can be avoided by making a complete detour to transmit the power.

[Brief explanation of the drawing]

FIG. 1 is a skeleton diagram showing a wheel-type traveling device. FIG. 2 is a skeleton diagram of the present invention in which the wheel-type traveling device shown in FIG. 1 is replaced with a crawler. (10L) (10R)...Steering brake device 0?
・Differential case (c)...Right steering clutch device Q8
1 (25a)...Gear (26L) (26R)...Switching clutch device (8
1j...Left steering clutch device Applicant Kanzaki Kokyukoki Seisakusho Co., Ltd. Agent Patent attorney Toshikazu Yano

Claims (2)

[Claims] (1) A differential device and left and right steering clutch devices are installed in the drive system of a crawler-people moving vehicle, and by switching the switching clutch device, it is possible to perform both steering by the differential device and steering by the steering clutch device. A steering device for a crawler-people moving vehicle, which is characterized by being able to (2) The crawler driver according to claim 1, characterized in that the steering by the differential device and the control button by the steering clutch can be automatically switched by shifting the sub-shift lever. Steering device for a moving vehicle (3) The gear linkage (8) (25a) that transmits power on the input side to the axle without going through the left and right switching clutch devices and the differential device is connected to the outer wall of the differential case 07) and the axle (6). Steering of a crawler-people moving vehicle according to claim 1, characterized in that left and right steering clutches (311(c)) are provided on the left and right axles (6L) (6R). Device